Vehicular vision system with lens defogging feature

ABSTRACT

A vehicular vision system includes a camera module configured to be disposed at a vehicle. An image processor processes multiple frames of image data captured by the imager of the camera module. With the camera module disposed at the vehicle, the heating device is activated to heat a lens of the camera module responsive to determination of lens occlusion at the lens. Responsive at least in part to determination of lens occlusion at the lens, and via processing of frames of captured image data while the heating device is activated, the vehicular vision system determines a change in degree of lens occlusion occurring between capture of a previous frame of captured image data and capture of a current frame of captured image data. The heating device is deactivated responsive to determination that the change in degree of lens occlusion is less than a threshold amount.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent application Ser. No. 16/830,517, filed Mar. 26, 2020, now U.S. Pat. No. 11,535,158, which claims the filing benefits of U.S. provisional application Ser. No. 62/825,083, filed Mar. 28, 2019, which is hereby incorporated herein by reference in its entirety.

FIELD OF THE INVENTION

The present invention relates generally to a vehicle vision system for a vehicle and, more particularly, to a vehicle vision system that utilizes one or more cameras at a vehicle.

BACKGROUND OF THE INVENTION

Use of imaging sensors in vehicle imaging systems is common and known. Examples of such known systems are described in U.S. Pat. Nos. 5,949,331; 5,670,935 and/or 5,550,677, which are hereby incorporated herein by reference in their entireties. For some applications, a lens heating function may be included within some cameras to defog the lens elements.

SUMMARY OF THE INVENTION

The present invention provides a vision system or imaging system or driving assist system or parking assist system for a vehicle that utilizes one or more cameras to capture image data representative of images exterior of the vehicle, and provides a heating element or function to heat the lens of the camera. The heating function or system initially heats the lens responsive to detection of lens occlusion or obstruction, such as dirt or water at the lens, and that either (i) deactivates the heating function responsive to determination that the detected occlusion is not water or moisture or (ii) increases the heating function responsive to determination that the detected occlusion is water or moisture. The camera may be mounted or disposed at an exterior structure of the vehicle, such as, for example, a vehicle panel, grill, bumper, fascia, light bar, center high mounted stop lamp (CHMSL) or the like, with its lens present at the exterior structure and viewing exterior of the vehicle.

These and other objects, advantages, purposes and features of the present invention will become apparent upon review of the following specification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a plan view of a vehicle with a vision system that incorporates cameras in accordance with the present invention; and

FIG. 2 is a block diagram showing the lens defogging system in accordance with the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A vehicle vision system and/or driver assist system and/or object detection system and/or alert system operates to capture images exterior of the vehicle and may process the captured image data to display images and to detect objects at or near the vehicle and in the predicted path of the vehicle, such as to assist a driver of the vehicle in maneuvering the vehicle in a rearward direction. The vision system includes an image processor or image processing system that is operable to receive image data from one or more cameras and provide an output to a display device for displaying images representative of the captured image data. Optionally, the vision system may provide a top down or bird's eye or surround view display and may provide a displayed image that is representative of the subject vehicle, and optionally with the displayed image being customized to at least partially correspond to the actual subject vehicle.

Referring now to the drawings and the illustrative embodiments depicted therein, a vehicle 10 includes an imaging system or vision system 12 that includes at least one exterior facing imaging sensor or camera, such as a rearward facing imaging sensor or camera 14 a (and the system may optionally include multiple exterior facing imaging sensors or cameras, such as a forward facing camera 14 b at the front (or at the windshield) of the vehicle, and a sideward/rearward facing camera 14 c, 14 d at respective sides of the vehicle), which captures images exterior of the vehicle, with the camera having a lens for focusing images at or onto an imaging array or imaging plane or imager of the camera (FIG. 1 ). The vision system 12 includes a control or electronic control unit (ECU) or processor 18 that is operable to process image data captured by the cameras and may provide displayed images at a display device 16 for viewing by the driver of the vehicle (although shown in FIG. 1 as being part of or incorporated in or at an interior rearview mirror assembly 20 of the vehicle, the control and/or the display device may be disposed elsewhere at or in the vehicle). The data transfer or signal communication from the camera to the ECU may comprise any suitable data or communication link, such as a vehicle network bus or the like of the equipped vehicle.

The cameras each include a housing and imager and a lens that is oriented such that the camera views exterior of the vehicle. Because the camera is disposed at the vehicle exterior, such cameras are exposed to cold temperatures and temperature and humidity fluctuations, whereby moisture and/or ice or snow may form or collect at the lens. Such automotive camera lenses are also susceptible to dirt or debris collecting at the lens of the camera. This is particularly an issue for cameras mounted at the front of a vehicle, such as at a front bumper or grill or fascia of the vehicle, or at the rear of the vehicle.

Condensation at the lens surface of the camera will reduce camera image quality and thus may be a high risk for advanced driving assist systems or autonomous vehicle control systems or the like. The camera 14 has its lens heated by a heating device (such as a heating element or device that heats at least a portion of the outermost lens element of the camera). For example, and such as shown in FIG. 2 , the camera or system may include a lens heating module or device 22 (that may be at or part of the lens), a lens heat control module or device or system 24, and an image blurring or occlusion detection module or device or system 26.

The camera captures image data and the vision system (via a data processor or image processor) processes the captured image data and applies an image blur or occlusion detection mode or algorithm to check frames of captured image data to determine if there is blurring or occlusion present in the captured image data (such as by detecting something that does not move relative to the camera when other objects or elements in the field of view of the camera are moving relative to the camera). Responsive to determination of a blurred or occluded image, the system sends a command to the lens heat control module to activate or power on the lens heating module or device. If, after initially powering on the lens heating module, the image gets better (becomes less blurry or less occluded), then the system enhances or increases the power to the lens heating module to enhance or speed up the defogging process. If the image does not change after initially powering on the lens heating module, then the system determines that the detected blurriness or occlusion is not due to water or moisture or condensation at the lens, so the system powers down or turns off the lens heating module.

The determination of whether to deactivate the heating device or to further power the heating device is based on whether or not the level or degree of lens occlusion reduces by a threshold amount over a plurality of frames of image data captured by the camera. For example, the system may initially determine lens occlusion that is sufficient (or above an activation threshold) so that the system activates the heating device. After and while the heating device is activated or powered, the system monitors the lens occlusion and if, over a threshold number of frames of captured image data (e.g., over five frames or ten frames or the like), the system determines that the lens occlusion has not reduced by a second or deactivation threshold (as compared to the initial or first frame of captured image data), then the system determines that the lens occlusion is not likely due to water or precipitation or moisture at the camera lens and deactivates the heater. Also, after and while the heating device is activated or powered, and as the system monitors the lens occlusion, if, over a threshold number of frames of captured image data (e.g., over five frames or ten frames or the like), the system determines that the lens occlusion has reduced by at least the second or deactivation threshold (as compared to the initial or first frame of captured image data), then the system determines that the lens occlusion is likely due to water or precipitation or moisture at the camera lens and further powers the heater to enhance heating and evaporation of the water or precipitation or moisture at the camera lens.

The system may determine that the lens is occluded when the system determines that a threshold surface area of the lens (corresponding to a threshold number of photosensors at the imager that are imaging that region) is occluded (such as, for example, when 10 percent of the lens is occluded). After the heating device is activated, the system monitors the lens occlusion to determine if the level or degree of lens occlusion reduces by a threshold amount (such as, for example, when the amount of lens occlusion decreases by 10 percent or by 20 percent (or any other preselected degree) over a selected or predetermined number of frames of captured image data), and then either deactivates the heating device of further powers the heating device. If the heating device is further powered (because the system determined that the lens occlusion was decreasing), the system continues to monitor the lens occlusion and deactivates the heating device when the lens occlusion reduces to a third threshold level (such as when the lens occlusion drops by, for example, at least 75 percent or at least 80 percent or at least 90 percent from its initial level). After the heating device is deactivated (either responsive to the system determining that the lens occlusion is water or precipitation or moisture and after the lens occlusion has decreased to the third or deactivation threshold or responsive to the system determining that the lens occlusion is not water or precipitation or moisture), the system continues to monitor the lens occlusion to determine if the degree of lens occlusion again increases to the activation threshold or if the degree of lens occlusion (already determined to initially not be due to water or precipitation or moisture) further increases another threshold amount so that the further occlusion may be due to water or precipitation or moisture.

For the auto defogging camera, the lens heat control module and the blurred or occluded image detection module may not be physically inside or part of the camera. The modules can be outside of the camera (such as at the ECU of the vehicle) and may send or communicate the signal or command or power to the lens heating module via a wire harness or cables or communication network or bus of the vehicle. Optionally, for example, the blurred or occluded image detection module may comprise part of the image signal processor (ISP) or ECU function.

Thus, and such as shown in FIG. 2 , the camera 14 captures frames of image data (such as while the vehicle is moving or parked) and the captured image data is processed by the imager blurry detection module or blurred image or lens occlusion detection module 26. If, via processing of captured image data, the system determines that the lens is not occluded (i.e., the image data is not blurred or is representative of a normal image), the system communicates to the lens heating control module 24 so that control module 24 deactivates (if already on) or maintains off the lens heating module 22, whereby the camera continues to capture image data and the process repeats.

If, via processing of captured image data, the system determines that the lens is occluded (i.e., the image data is blurred or is representative of a “non-normal” image) when the lens heating module is off, the system communicates to the lens heating control module 24 so that control module 24 powers on the lens heating module 22, whereby the lens heating module generates heat at the lens of the camera 14 (such as at an initial or low power or reduced power level or setting). The camera then continues to capture image data and the process repeats.

If, via processing of captured image data, and with the heating module in its initial activation state, the system determines that the lens is occluded (i.e., the image data is blurred or is representative of a non-normal image), the system compares the current frame of captured image data to a previous frame of captured image data to determine if there is a change in the level of occlusion at the lens. If there is no difference determined, then the system determines that the detected occlusion is not due to condensation at the lens and communicates to the lens heating control module 24 so that control module 24 powers off or deactivates the lens heating module.

If, however, the system determines that there is a difference between the current frame of captured image data and the previous frame of captured image data, with the current frame of captured image data being clearer than the previous frame of captured image data, the system determines that the occlusion is due to moisture or condensation at the lens and communicates to the lens heating control module 24 so that the control module 24 increases or enhances the power supplied to the lens heating module 22 to increase or enhance heating of the lens to more rapidly evaporate the moisture or condensation present at the lens of the camera 14.

Thus, the present invention provides a heating system (and optionally a washer system too) that heats the lens responsive to detection of lens occlusion or dirt or water at the lens and that either deactivates the heating function responsive to determination that the detected occlusion is not water or moisture or increases the heating function responsive to determination that the detected occlusion is water or moisture. Thus, if the system determines occlusion at the lens that is not representative of or indicative of moisture or condensation, the system does not keep heating the lens when it is not necessary. However, if the system determines that occlusion at the lens is representative of or indicative of moisture or condensation at the lens, the system increases the level of heating at the lens to more rapidly evaporate the moisture or condensation present at the lens of the camera.

The lens heating module or device may comprise any suitable heating device or element or module. For example, the heating module or device may utilize aspects of the lens heating device or system described in U.S. provisional application Ser. No. 62/825,128, filed Mar. 28, 2019, which is hereby incorporated herein by reference in its entirety.

The camera may optionally also include a fluid spraying device that connects to a pressurized fluid supply and has a fluid passageway and nozzle so as to spray fluid onto the lens to clean the lens of dirt or debris. The spraying or cleaning device may operate with or separate from the heating device. Optionally, the spraying or cleaning device may be activated responsive to determination that the detected occlusion is not moisture or condensation at the lens (and such as when the heating device is turned off).

The heating elements or circuits could be directly attached to a vehicle harness or be integrated into a camera pigtail if included in the design. Activation and control of the heating element may be via messages from the camera to the vehicle's communications network. Control could also be included in this device by way of integrated temperature sensor and timer. For example, a temperature sensor may be included at the camera or heater element such that, when the sensed temperature drops below a threshold temperature, the heating device is automatically activated to heat the lens barrel to limit or preclude moisture or ice forming on the lens optics.

The camera and/or system may utilize aspects of the cameras/systems described in U.S. Pat. Nos. 10,137,844; 9,961,241 and/or 9,319,637, and/or U.S. Publication Nos. US-2019-0113743; US-2018-0207691; US-2016-0272163; US-2015-0321621 and/or US-2016-0264064, which are hereby incorporated herein by reference in their entireties.

The system includes an image processor operable to process image data captured by the camera or cameras, such as for detecting objects or other vehicles or pedestrians or the like in the field of view of one or more of the cameras. For example, the image processor may comprise an image processing chip selected from the EYEQ™ family of image processing chips available from Mobileye Vision Technologies Ltd. of Jerusalem, Israel, and may include object detection software (such as the types described in U.S. Pat. Nos. 7,855,755; 7,720,580 and/or 7,038,577, which are hereby incorporated herein by reference in their entireties), and may analyze image data to detect vehicles and/or other objects. Responsive to such image processing, and when an object or other vehicle is detected, the system may generate an alert to the driver of the vehicle and/or may generate an overlay at the displayed image to highlight or enhance display of the detected object or vehicle, in order to enhance the driver's awareness of the detected object or vehicle or hazardous condition during a driving maneuver of the equipped vehicle.

For example, the vision system and/or processing and/or camera and/or circuitry may utilize aspects described in U.S. Pat. Nos. 8,694,224; 7,005,974; 5,760,962; 5,877,897; 5,796,094; 5,949,331; 6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202; 6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452; 6,822,563; 6,891,563; 6,946,978; 7,859,565; 5,550,677; 5,670,935; 6,636,258; 7,145,519; 7,161,616; 7,230,640; 7,248,283; 7,295,229; 7,301,466; 7,592,928; 7,881,496; 7,720,580; 7,038,577; 6,882,287; 5,929,786 and/or 5,786,772, which are all hereby incorporated herein by reference in their entireties. The system may communicate with other communication systems via any suitable means, such as by utilizing aspects of the systems described in International Publication Nos. WO 2010/144900; WO 2013/043661 and/or WO 2013/081985, and/or U.S. Publication No. US-2012-0062743, which are hereby incorporated herein by reference in their entireties.

Changes and modifications in the specifically described embodiments can be carried out without departing from the principles of the invention, which is intended to be limited only by the scope of the appended claims, as interpreted according to the principles of patent law including the doctrine of equivalents. 

1. A vehicular vision system, the vehicular vision system comprising: a camera module comprising an imager and a lens, wherein the camera module is configured to be disposed at a vehicle equipped with the vehicular vision system; a heating device operable to heat the lens; an image processor operable to process multiple frames of image data captured by the imager of the camera module, wherein the multiple frames of image data captured by the imager of the camera module include (i) a first set of frames of captured image data and (ii) a second set of frames of captured image data, wherein the second set of frames of captured image data is captured by the imager of the camera module subsequent to capture of the first set of frames of captured image data; wherein, with the camera module disposed at the vehicle, the heating device is activated to heat the lens responsive to determination, via processing at the image processor of the first set of frames of captured image data, of lens occlusion at the lens; wherein, responsive at least in part to determination of lens occlusion at the lens, and via processing at the image processor of the second set of frames of captured image data while the heating device is activated, the vehicular vision system determines, by comparing a current frame of the second set of frames of captured image data to a previous frame of the second set of frames of captured image data, a change in degree of lens occlusion occurring between capture of the previous frame of the second set of frames of captured image data and capture of the current frame of the second set of frames of captured image data; and wherein the heating device is deactivated responsive to determination that the change in degree of lens occlusion occurring between capture of the previous frame of the second set of frames of captured image data and capture of the current frame of the second set of frames of captured image data is less than a threshold amount.
 2. The vehicular vision system of claim 1, wherein the camera module is configured to be disposed at an exterior portion of the vehicle so as to view exterior of the vehicle.
 3. The vehicular vision system of claim 2, wherein the camera module is configured to be disposed at a rear portion of the vehicle so as to view rearward of the vehicle.
 4. The vehicular vision system of claim 2, wherein the camera module is configured to be mounted at the exterior portion of the vehicle.
 5. The vehicular vision system of claim 4, wherein, with the camera module mounted at the exterior portion of the vehicle, the lens is exposed at the exterior portion of the vehicle.
 6. The vehicular vision system of claim 1, wherein the heating device includes an electrical lead that is configured to electrically connect to an electrical connector of the vehicle when the camera module is disposed at the vehicle.
 7. The vehicular vision system of claim 1, wherein, responsive to determination that the change in degree of lens occlusion occurring between capture of the previous frame of the second set of frames of captured image data and capture of the current frame of the second set of frames of captured image data is less than the threshold amount, the system determines that the determined lens occlusion is not water or moisture.
 8. The vehicular vision system of claim 1, wherein, responsive to determination that the change in degree of lens occlusion occurring between capture of the previous frame of the second set of frames of captured image data and capture of the current frame of the second set of frames of captured image data is at least the threshold amount, the system determines that the determined lens occlusion is water or moisture.
 9. The vehicular vision system of claim 1, wherein, via processing at the image processor of the second set of frames of captured image data, the heating device is deactivated responsive to determination, via comparing the current frame of the second set of frames of captured image data to the previous frame of the second set of frames of captured image data, that the degree of lens occlusion is not reduced by the threshold amount between the previous frame of captured image data and the current frame of captured image data.
 10. The vehicular vision system of claim 1, wherein, via processing at the image processor of the second set of frames of captured image data, wherein the heating device is deactivated responsive to determination, via comparing the current frame of the second set of frames of captured image data to the previous frame of the second set of frames of captured image data, that the degree of lens occlusion is reduced by at least the threshold amount in the current frame of captured image data as compared to the previous frame of captured image data.
 11. The vehicular vision system of claim 1, wherein the heating device is not deactivated responsive to determination, via processing at the image processor of the second set of frames of captured image data, that the change in degree of lens occlusion occurring between capture of the previous frame of the second set of frames of captured image data and capture of the current frame of the second set of frames of captured image data is at least the threshold amount.
 12. The vehicular vision system of claim 1, wherein the heating device is operated to increase heating at the lens responsive to determination, via processing at the image processor of the second set of frames of captured image data, that the change in degree of lens occlusion occurring between capture of the previous frame of the second set of frames of captured image data and capture of the current frame of the second set of frames of captured image data is at least the threshold amount.
 13. The vehicular vision system of claim 1, wherein the vehicular vision system determines lens occlusion at the lens by detecting, via processing at the image processor of the first set of frames of image data captured by the imager of the camera module, a plurality of objects in a field of view of the camera module and determining that at least one detected object in the field of view of the camera module does not move relative to the camera module while other detected objects in the field of view of the camera module are moving relative to the camera module.
 14. A vehicular vision system, the vehicular vision system comprising: a camera module comprising an imager and a lens, wherein the camera module is configured to be disposed at a vehicle equipped with the vehicular vision system; a heating device operable to heat the lens; an image processor operable to process multiple frames of image data captured by the imager of the camera module, wherein the multiple frames of image data captured by the imager of the camera module include (i) a first set of frames of captured image data and (ii) a second set of frames of captured image data, wherein the second set of frames of captured image data is captured by the imager of the camera module subsequent to capture of the first set of frames of captured image data; wherein, with the camera module disposed at the vehicle, the heating device is activated to heat the lens responsive to determination, via processing at the image processor of the first set of frames of captured image data, of lens occlusion at the lens; wherein the vehicular vision system determines lens occlusion at the lens by detecting, via processing at the image processor of the first set of frames of image data captured by the imager of the camera module, a plurality of objects in a field of view of the camera module and determining that at least one detected object in the field of view of the camera module does not move relative to the camera module while other detected objects in the field of view of the camera module are moving relative to the camera module; wherein, responsive at least in part to determination of lens occlusion at the lens, and via processing at the image processor of the second set of frames of captured image data while the heating device is activated, the vehicular vision system determines, by comparing a current frame of the second set of frames of captured image data to a previous frame of the second set of frames of captured image data, a change in degree of lens occlusion occurring between capture of the previous frame of the second set of frames of captured image data and capture of the current frame of the second set of frames of captured image data; wherein the heating device is deactivated responsive to determination that the change in degree of lens occlusion occurring between capture of the previous frame of the second set of frames of captured image data and capture of the current frame of the second set of frames of captured image data is less than a threshold amount; and wherein the heating device is not deactivated responsive to determination that the change in degree of lens occlusion occurring between capture of the previous frame of the second set of frames of captured image data and capture of the current frame of the second set of frames of captured image data is at least the threshold amount.
 15. The vehicular vision system of claim 14, wherein the camera module is configured to be disposed at an exterior rear portion of the vehicle so as to view rearward of the vehicle, and wherein, with the camera module disposed at the exterior rear portion of the vehicle, the lens is exposed at the exterior rear portion of the vehicle.
 16. The vehicular vision system of claim 14, wherein the heating device includes an electrical lead that is configured to electrically connect to an electrical connector of the vehicle when the camera module is disposed at the vehicle.
 17. The vehicular vision system of claim 14, wherein, responsive to determination that the change in degree of lens occlusion occurring between capture of the previous frame of the second set of frames of captured image data and capture of the current frame of the second set of frames of captured image data is at least the threshold amount, the system determines that the determined lens occlusion is water or moisture.
 18. The vehicular vision system of claim 14, wherein, via processing at the image processor of the second set of frames of captured image data, the heating device is deactivated responsive to determination, via comparing the current frame of the second set of frames of captured image data to the previous frame of the second set of frames of captured image data, that the degree of lens occlusion is not reduced by the threshold amount between the previous frame of captured image data and the current frame of captured image data.
 19. The vehicular vision system of claim 14, wherein, via processing at the image processor of the second set of frames of captured image data, wherein the heating device is deactivated responsive to determination, via comparing the current frame of the second set of frames of captured image data to the previous frame of the second set of frames of captured image data, that the degree of lens occlusion is reduced by at least the threshold amount in the current frame of captured image data as compared to the previous frame of captured image data.
 20. The vehicular vision system of claim 14, wherein the heating device is operated to increase heating at the lens responsive to determination, via processing at the image processor of the second set of frames of captured image data, that the change in degree of lens occlusion occurring between capture of the previous frame of the second set of frames of captured image data and capture of the current frame of the second set of frames of captured image data is at least the threshold amount.
 21. A vehicular vision system, the vehicular vision system comprising: a camera module comprising an imager and a lens, wherein the camera module is configured to be disposed at an exterior rear portion of a vehicle equipped with the vehicular vision system, and wherein, with the camera module disposed at the exterior rear portion of the vehicle, the camera module views rearward of the vehicle, and wherein, with the camera module disposed at the exterior rear portion of the vehicle, the lens is exposed at the exterior rear portion of the vehicle; a heating device operable to heat the lens; an image processor operable to process multiple frames of image data captured by the imager of the camera module, wherein the multiple frames of image data captured by the imager of the camera module include (i) a first set of frames of captured image data and (ii) a second set of frames of captured image data, wherein the second set of frames of captured image data is captured by the imager of the camera module subsequent to capture of the first set of frames of captured image data; wherein, with the camera module disposed at the vehicle, the heating device is activated to heat the lens responsive to determination, via processing at the image processor of the first set of frames of captured image data, of lens occlusion at the lens; wherein the vehicular vision system determines lens occlusion at the lens by detecting, via processing at the image processor of the first set of frames of image data captured by the imager of the camera module, a plurality of objects in a field of view of the camera module and determining that at least one detected object in the field of view of the camera module does not move relative to the camera module while other detected objects in the field of view of the camera module are moving relative to the camera module; wherein, responsive at least in part to determination of lens occlusion at the lens, and via processing at the image processor of the second set of frames of captured image data while the heating device is activated, the vehicular vision system determines, by comparing a current frame of the second set of frames of captured image data to a previous frame of the second set of frames of captured image data, a change in degree of lens occlusion occurring between capture of the previous frame of the second set of frames of captured image data and capture of the current frame of the second set of frames of captured image data; wherein the heating device is deactivated responsive to determination, via processing at the image processor of the second set of frames of captured image data, that the change in degree of lens occlusion occurring between capture of the previous frame of the second set of frames of captured image data and capture of the current frame of the second set of frames of captured image data is less than a threshold amount; and wherein the heating device is operated to increase heating at the lens responsive to determination, via processing at the image processor of the second set of frames of captured image data, that the change in degree of lens occlusion occurring between capture of the previous frame of the second set of frames of captured image data and capture of the current frame of the second set of frames of captured image data is at least the threshold amount.
 22. The vehicular vision system of claim 21, wherein the camera module is configured to be disposed at an exterior portion of the vehicle so as to view exterior of the vehicle, and wherein, with the camera module disposed at the exterior portion of the vehicle, the lens is exposed at the exterior portion of the vehicle.
 23. The vehicular vision system of claim 21, wherein the heating device includes an electrical lead that is configured to electrically connect to an electrical connector of the vehicle when the camera module is disposed at the vehicle.
 24. The vehicular vision system of claim 21, wherein, responsive to determination that the change in degree of lens occlusion occurring between capture of the previous frame of the second set of frames of captured image data and capture of the current frame of the second set of frames of captured image data is at least the threshold amount, the system determines that the determined lens occlusion is water or moisture.
 25. The vehicular vision system of claim 21, wherein, via processing at the image processor of the second set of frames of captured image data, the heating device is deactivated responsive to determination, via comparing the current frame of the second set of frames of captured image data to the previous frame of the second set of frames of captured image data, that the degree of lens occlusion is not reduced by the threshold amount between the previous frame of captured image data and the current frame of captured image data.
 26. The vehicular vision system of claim 21, wherein, via processing at the image processor of the second set of frames of captured image data, wherein the heating device is deactivated responsive to determination, via comparing the current frame of the second set of frames of captured image data to the previous frame of the second set of frames of captured image data, that the degree of lens occlusion is reduced by at least the threshold amount in the current frame of captured image data as compared to the previous frame of captured image data. 